水冷壁爬壁机器人路径跟踪研究

Research on Path Tracking of Water Wall Climbing Robot

摘要:

摘要：准确的直线运动是水冷壁爬壁机器人完成磨损检测工作的前提，为了保证其做直线运动，设计了一种水冷壁爬壁机器人路径跟踪控制律。本文通过建立爬壁机器人的运动学模型，用摄像机采集水冷壁图像，对图像处理并提取直线路径，实现对其位姿的反馈，再根据Backstepping跟踪算法设计路径跟踪控制律对机器人位姿进行控制，同时采用Lyapunov稳定理论对控制律的收敛性进行验证，最后通过MATLAB软件进行仿真实验，仿真结果验证了控制律的有效性。

Abstract:

Abstract: Accurate linear motion is the premise of the water-cooled wall climbing robot to complete the wear detection work. In order to ensure its linear motion, a water-cooled wall climbing robot path tracking control law is designed. In this paper, by establishing the kinematics model of the wall-climbing robot, the image of the water-cooled wall is captured by the camera, and the image is processed and the straight path is extracted to realize feedback on its posture. Then the path tracking control law is designed according to the Backstepping tracking algorithm to control the pose of the robot. At the same time, the convergence of the control law is verified by Lyapunov stability theory. Finally, the simulation experiment is carried out by MATLAB software. The simulation results verify the validity of the control law.